#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using std::placeholders::_1;

class MinimalSubscriber : public rclcpp::Node
{
public:
  MinimalSubscriber()
      : Node("minimal_subscriber")
  {

    // set qos profile
    // set history depth to 10, 10 is also the default value
    rclcpp::QoS qos_profile(10);
    // RMW_QOS_POLICY_RELIABILITY_RELIABLE(default), RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
    qos_profile.reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE);
    // RMW_QOS_POLICY_DURABILITY_VOLATILE(default)
    // RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL(Only works when reliability is RELIABLE and needs history:KEEP_LAST and depth)
    qos_profile.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
    // history: only works when reliability is RELIABLE
    // RMW_QOS_POLICY_HISTORY_KEEP_LAST(default), RMW_QOS_POLICY_HISTORY_KEEP_ALL
    qos_profile.history(RMW_QOS_POLICY_HISTORY_KEEP_LAST);
    // default is Infinite
    qos_profile.lifespan(rclcpp::Duration(5, 0));

    // default is Infinite
    qos_profile.deadline(rclcpp::Duration(5, 0));
    // RMW_QOS_POLICY_LIVELINESS_AUTOMATIC(default), RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC
    qos_profile.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC);
    // default is Infinite
    qos_profile.liveliness_lease_duration(rclcpp::Duration(5, 0));

    subscription_ = this->create_subscription<std_msgs::msg::String>(
        "/test/topic", qos_profile, std::bind(&MinimalSubscriber::topic_callback, this, _1));
  }

private:
  void topic_callback(const std_msgs::msg::String &msg) const
  {
    RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.data.c_str());
  }
  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
};

int main(int argc, char *argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalSubscriber>());
  rclcpp::shutdown();
  return 0;
}